We tackle the problem of forming and deploying groups of robots in a dynamic task allocation scenario. In our approach, wheeled robots carry out tasks and flying robots coordinate the formation and subsequent deployment of groups of wheeled robots. Our recruitment system is based on simple probabilistic rules inspired by the aggregation behaviour of cockroaches under shelters. The system succes...

We report here on a new technique to evaluate autonomous mobile robots built for exploring rugged terrain such as is found on planetary surfaces. The dynamics of both wheeled and legged robots interacting with deformable soil (sand) and obstacles are notoriously complex and nonlinear. This paper introduces a novel statistical methodology for the evaluation of such robots. We report on work in p...

We consider a heterogeneous swarm consisting of aerial and wheeled robots. We present a system that enables spatially targeted communication. Our system enables aerial robots to establish dedicated communication links with individual wheeled robots or with selected groups of wheeled robots based on their position in the environment. The system does not rely on any form of global information. We...

This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a computational model which is obtained from kinematic and dynamic relations of KHEPERA IV. The purpose of control is to track a predefined reference trajectory with the best po...

The purpose of this chapter is to introduce, analyze, and compare the models of wheeled mobile robots (WMR) and to present several realizations and commonly encountered designs. The mobility of WMR is discussed on the basis of the kinematic constraints resulting from the pure rolling conditions at the contact points between the wheels and the ground. According to this discussion it is shown tha...

For their inherent stability and simplicity, wheeled robots are very common in robotics applications – but a major drawback of wheeled robots is their inability to navigate over large obstacles or steps without assistance. Active systems that have been designed for use on wheeled robots to lift the robot over a step – such as USU‟s T3 and Virginia Tech‟s IMPASS – are effective, but are limited ...

We formulate the kinematic equations-of-motion of wheeled mobile robots incorporating conuentionaI, omnidirectional, and ball wheels. While our approach parallels the kinematic modeling of stationary manipulators, we extend the methodology to accommodate such special characteristics of wheeled mobile robots as multiple closed-link chains, higher-pair contact points between a wheel and a surface...